/***************************************************************************
 *   Copyright (c) 2019 Viktor Titov (DeepSOIC) <vv.titov@gmail.com>       *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/


#include "pch.h"
#include <cassert>
#include "DualQuaternion.h"


Base::DualQuat Base::operator+(DualQuat a, DualQuat b) {
    return DualQuat(
        a.x + b.x,
        a.y + b.y,
        a.z + b.z,
        a.w + b.w
    );
}

Base::DualQuat Base::operator-(DualQuat a, DualQuat b) {
    return DualQuat(
        a.x - b.x,
        a.y - b.y,
        a.z - b.z,
        a.w - b.w
    );
}

Base::DualQuat Base::operator*(DualQuat a, DualQuat b) {
    return DualQuat(
        a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
        a.w * b.y + a.y * b.w + a.z * b.x - a.x * b.z,
        a.w * b.z + a.z * b.w + a.x * b.y - a.y * b.x,
        a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
    );
}

Base::DualQuat Base::operator*(DualQuat a, double b) {
    return DualQuat(
        a.x * b,
        a.y * b,
        a.z * b,
        a.w * b
    );
}

Base::DualQuat Base::operator*(double a, DualQuat b) {
    return DualQuat(
        b.x * a,
        b.y * a,
        b.z * a,
        b.w * a
    );
}

Base::DualQuat Base::operator*(DualQuat a, DualNumber b) {
    return DualQuat(
        a.x * b,
        a.y * b,
        a.z * b,
        a.w * b
    );
}

Base::DualQuat Base::operator*(DualNumber a, DualQuat b) {
    return DualQuat(
        b.x * a,
        b.y * a,
        b.z * a,
        b.w * a
    );
}

Base::DualQuat::DualQuat(DualQuat re, DualQuat du)
    : x(re.x.re, du.x.re),
      y(re.y.re, du.y.re),
      z(re.z.re, du.z.re),
      w(re.w.re, du.w.re) {
    assert(re.dual().length() < 1e-12);
    assert(du.dual().length() < 1e-12);
}

double Base::DualQuat::dot(DualQuat a, DualQuat b) {
    return a.x.re * b.x.re +
        a.y.re * b.y.re +
        a.z.re * b.z.re +
        a.w.re * b.w.re;
}

Base::DualQuat Base::DualQuat::pow(double t, bool shorten) const {
    /* implemented after "Dual-Quaternions: From Classical Mechanics to
     * Computer Graphics and Beyond" by Ben Kenwright www.xbdev.net
     * bkenwright@xbdev.net
     * http://www.xbdev.net/misc_demos/demos/dual_quaternions_beyond/paper.pdf
     *
     * There are some differences:
     *
     * * Special handling of no-rotation situation (because normalization
     * multiplier becomes infinite in this situation, breaking the algorithm).
     *
     * * Dual quaternions are implemented as a collection of dual numbers,
     * rather than a collection of two quaternions like it is done in suggested
     * implementation in the paper.
     *
     * * acos replaced with atan2 for improved angle accuracy for small angles
     *
     * */
    double le = this->vec().length();
    if (le < 1e-12) {
        //special case of no rotation. Interpolate position
        return DualQuat(this->real(), this->dual() * t);
    }

    double normmult = 1.0 / le;

    DualQuat self = *this;
    if (shorten) {
        if (dot(self, identity()) < -1e-12) {
            //using negative tolerance instead of zero, for stability in situations the choice is ambiguous (180-degree rotations)
            self = -self;
        }
    }

    //to screw coordinates
    double theta = self.theta();
    double pitch = -2.0 * self.w.du * normmult;
    DualQuat l = self.real().vec() * normmult; //abusing DualQuat to store vectors. Very handy in this case.
    DualQuat m = (self.dual().vec() - pitch / 2 * cos(theta / 2) * l) * normmult;

    //interpolate
    theta *= t;
    pitch *= t;

    //back to quaternion
    return DualQuat(
        l * sin(theta / 2) + DualQuat(0, 0, 0, cos(theta / 2)),
        m * sin(theta / 2) + pitch / 2 * cos(theta / 2) * l + DualQuat(0, 0, 0, -pitch / 2 * sin(theta / 2))
    );
}
